A redundant control system for underwater redundant stepper motor drives

Abstract

The present invention discloses a redundant control system for an underwater redundant stepper motor driver, comprising: a first control device and a second control device; wherein the first control device comprises a first main controller module, a first isolation module and a first trigger; the first main controller module generates a first pulse drive signal, and the first isolation module performs photoelectric isolation on the first pulse drive signal to obtain a first type of motor pulse drive signal; the first trigger converts the first pulse drive signal into a corresponding control level signal and then feeds it back to the first main controller module, and generates a second pulse drive signal when the first main controller module does not receive the control level signal; the input end of the second control device is connected to the first trigger and the first main controller module, and generates a second type of motor pulse drive signal when the control level signal generated by the first trigger is not received.

Description

Technical Field

[0001] The invention relates to an electric power source for underwater small-sized equipment, and in particular to a redundant control system for an underwater redundant stepping motor driver. Background Art

[0002] Underwater motor products are abundant and the technology is mature, but the control circuits used to control the motors are generally located above the water surface. And because the motor products are placed underwater, they are prone to failure and cannot drive the stepper motor.

[0003] Compared with conventional stepper motors, stepper motors have the ability to control output accuracy and can precisely control the rotation angle of the motor, thereby achieving precise control of the operation of the equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a redundant control system for an underwater redundant stepper motor driver, which places the control loop of the stepper motor underwater and adds redundant control logic.

[0005] In order to achieve the above objectives, the present invention is implemented by the following technical solutions:

[0006] A redundant control system for an underwater redundant stepper motor drive, characterized by including:

[0007] a first control device and a second control device;

[0008] The first control device comprises a first main controller module, a first isolation module and a first trigger, wherein the input end of the first isolation module is connected to the first main controller module and to the first trigger, and the output end of the first trigger is connected to the first main controller module;

[0009] The first main controller module generates a first pulse drive signal after receiving an external start-up instruction, and the first isolation module performs photoelectric isolation on the first pulse drive signal to obtain a first type of motor pulse drive signal;

[0010] The first trigger converts the first pulse drive signal into a corresponding first control level signal and then feeds it back to the first main controller module. When the first main controller module does not receive the first control level signal, a second pulse drive signal is generated. The first trigger converts the second pulse drive signal into a corresponding second control level signal and feeds it back to the second control device.

[0011] The input end of the second control device is connected to the first trigger and the first main controller module. When the second control level signal generated by the first trigger is not received, the second control device generates a second type of motor pulse drive signal.

[0012] The second control device comprises: a second main controller module, a second isolation module and a second trigger, wherein the input end of the second isolation module is connected to the second main controller module and is connected to the second trigger, the output end of the second trigger is connected to the second main controller module and the first main controller module, and the input end of the second main controller module is also connected to the first trigger;

[0013] The second main controller module generates a third pulse drive signal after receiving an external start-up instruction, and the second isolation module performs photoelectric isolation on the third pulse drive signal to obtain a second type of motor pulse drive signal;

[0014] The second trigger converts the third pulse driving signal into a corresponding control level signal and then feeds it back to the second main controller module. When the second main controller module does not receive the control level signal, it generates a fourth pulse driving signal.

[0015] When the second main controller module does not receive the control level signal generated by the first trigger, the second main controller module generates a third pulse driving signal.

[0016] The first trigger includes: a first passive filtering circuit and a first trigger unit connected to the first passive filtering circuit, the first passive filtering circuit converts the pulse driving signal into an analog signal, and the first trigger unit converts the analog signal into a control level signal.

[0017] The second trigger includes: a second passive filtering circuit and a second trigger unit connected to the second passive filtering circuit, the second passive filtering circuit converts the pulse drive signal into an analog signal, and the second trigger unit converts the analog signal into a corresponding control level signal.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] The motor's control circuit is placed underwater and redundant control logic is added.

[0020] Good compatibility: compatible with some stepper motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a schematic structural diagram of a redundant control system for an underwater redundant stepper motor driver. DETAILED DESCRIPTION

[0022] The present invention will be further described below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, a redundant control system for an underwater redundant stepper motor driver comprises: a first control device and a second control device; the first control device comprises a first main controller module 11, a first isolation module 12 and a first trigger 13, the input end of the first isolation module 12 is connected to the first main controller module 11 and is connected to the first trigger 13, and the output end of the first trigger 13 is connected to the first main controller module 11; the first main controller module 11 generates a first pulse drive signal A1 after receiving an external start instruction, and the first isolation module 12 performs photoelectric isolation on the first pulse drive signal to obtain a first type of motor pulse drive signal; the first A trigger 13 converts the first pulse drive signal into a corresponding first control level signal and then feeds it back to the first main controller module 11. When the first main controller module 11 does not receive the control level signal, it generates a second pulse drive signal A2. After being isolated by the first isolation module, it also generates a first type of motor pulse drive signal A. The first trigger converts the second pulse drive signal A2 into a corresponding second control level signal and feeds it back to the second control device; the input end of the second control device is connected to the first trigger 12 and the first main controller module 11. When the second control level signal generated by the first trigger is not received, the second control device generates a second type of motor pulse drive signal B.

[0024] The stepper motor driver replaces the driver built by the circuit with a dedicated driver, and uses a square wave pulse signal to drive the two windings inside the stepper motor. This can effectively improve the accuracy of the rotation angle output by the stepper motor corresponding to each pulse and ensure the torque output of the stepper motor. The pulse signal is used to drive the motor. The driver rotates an angle each time it receives a square wave pulse. The size of the angle is related to the factory parameters of the stepper motor.

[0025] The second control device comprises: a second main controller module 21, a second isolation module 22 and a second trigger 23, wherein the input end of the second isolation module 22 is connected to the second main controller module 21 and is connected to the second trigger 23, the output end of the second trigger 23 is connected to the second main controller module 21 and the first main controller module 11, and the input end of the second main controller module 21 is also connected to the first trigger 13;

[0026] The second main controller module 21 generates a third pulse drive signal B1 after receiving an external start-up instruction, and the second isolation module performs photoelectric isolation on the third pulse drive signal to obtain a second type of motor pulse drive signal; the second trigger converts the third pulse drive signal into a corresponding control level signal and then feeds it back to the second main controller module. When the second main controller module does not receive the control level signal, it generates a fourth pulse drive signal B2. The second control device has logical redundancy of the first control device, and the details are not repeated here.

[0027] When the second main controller module 21 does not receive the control level signal generated by the first trigger, the second main controller module 21 generates a third pulse drive signal and sends a fault signal to the upper device through the CAN bus.

[0028] The first trigger includes: a first passive filtering circuit and a first trigger unit connected to the first passive filtering circuit, the first passive filtering circuit converts the pulse driving signal into an analog signal, and the first trigger unit converts the analog signal into a control level signal.

[0029] The second trigger includes: a second passive filtering circuit and a second trigger unit connected to the second passive filtering circuit, the second passive filtering circuit converts the pulse drive signal into an analog signal, and the second trigger unit converts the analog signal into a corresponding control level signal.

[0030] Specifically, the first and second main controller modules perform redundant control according to the redundant control signal, and the device model used is: STM32F405; the first and second isolation modules perform photoelectric isolation on the pulse drive signal, and the device model used is: 6N137; the first and second triggers use Schmitt triggers to convert the first pulse drive signal A1, the second pulse drive signal A2, the third pulse drive signal B1 and the fourth pulse drive signal B2 into corresponding control level signals, wherein a passive filtering circuit is first used to convert the pulse drive signal into an analog signal, which is used to filter out noise and prevent subsequent trigger units from misoperating, wherein the trigger unit model is 74HC14.

[0031] In summary, the redundant control system of the redundant stepper motor driver of the present invention places the control loop of the motor underwater and adds redundant control logic.

[0032] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A redundant control system for an underwater redundant stepper motor drive, characterized in that: include: a first control device and a second control device; The first control device comprises a first main controller module, a first isolation module and a first trigger, wherein the input end of the first isolation module is connected to the first main controller module and to the first trigger, and the output end of the first trigger is connected to the first main controller module; The first main controller module generates a first pulse drive signal after receiving an external start-up instruction, and the first isolation module performs photoelectric isolation on the first pulse drive signal to obtain a first type of motor pulse drive signal; The first trigger converts the first pulse drive signal into a corresponding first control level signal and then feeds it back to the first main controller module. When the first main controller module does not receive the first control level signal, a second pulse drive signal is generated. The first trigger converts the second pulse drive signal into a corresponding second control level signal and feeds it back to the second control device. The input end of the second control device is connected to the first trigger and the first main controller module. When the second control level signal fed back by the first trigger is not received, the second control device generates a second type of motor pulse drive signal; The second control device comprises: a second main controller module, a second isolation module and a second trigger, wherein the input end of the second isolation module is connected to the second main controller module and is connected to the second trigger, the output end of the second trigger is connected to the second main controller module and the first main controller module, and the input end of the second main controller module is also connected to the first trigger; The second main controller module generates a third pulse drive signal after receiving an external start-up instruction, and the second isolation module performs photoelectric isolation on the third pulse drive signal to obtain a second type of motor pulse drive signal; The second trigger converts the third pulse drive signal into a corresponding control level signal and then feeds it back to the second main controller module. When the second main controller module does not receive the control level signal, a fourth pulse drive signal is generated; The first trigger comprises: a first passive filtering circuit and a first trigger unit connected to the first passive filtering circuit, the first passive filtering circuit converts the pulse driving signal into an analog signal, and the first trigger unit converts the analog signal into a control level signal; The models of the first main controller module and the second main controller module are: STM32F405.

2. The redundant control system for underwater redundant stepper motor drive according to claim 1, characterized in that: The second trigger includes: a second passive filtering circuit and a second trigger unit connected to the second passive filtering circuit, the second passive filtering circuit converts the pulse drive signal into an analog signal, and the second trigger unit converts the analog signal into a corresponding control level signal.

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